/*
 * my_camera.h
 *
 *  Created on: Feb 19, 2024
 *      Author: 86138
 */

#ifndef MY_CAMERA_H_
#define MY_CAMERA_H_
#include "zf_common_headfile.h"

//视觉
extern uint8_t col , row , _row ,height, width;
extern uint8_t image_threshold[120][188];
extern uint8_t mode;
extern uint8_t flag1 ;
extern uint8_t flag2 ;
extern float seed_delta , seed_delta_ahead ;
extern uint8_t seed_left[120];
extern uint8_t seed_right[120];
extern uint8_t middle_line[120];
extern uint8_t garage_out_flag , garage_in_flag;

//rightcircle
extern uint8_t dec_right,inc_right,test1,right_circle_flag;
extern uint8_t length[188] ;
extern uint8_t longest ;
extern uint8_t _longest ;
extern uint8_t white_col ;

//拉线  conect_line_branch
extern uint8_t crossroads_flag ;
extern uint8_t conect_line_flag ;
extern uint8_t conect_line_flag_left ;
extern uint8_t conect_line_flag_right ;


//斑马线
extern uint8_t garage_out_flag , garage_in_flag;

void adapt_threshold(void);
void detect_seed(uint8_t _height);
void CheckTurningPoint_up(void);
uint8_t RoundaboutGetArc(uint8_t _height,uint8_t status,uint8_t inc_num,uint8_t dec_num);
void conect_line_branch(void);
void delta(void);


#endif /* MY_CAMERA_H_ */
